永磁同步电机伺服系统混合鲁棒方差控制  

Mixed robust variance control design of PMSM servo system

作　　者：吴春[1] 齐蓉[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129

出　　处：《电机与控制学报》2013年第5期63-68,共6页Electric Machines and Control

基　　金：中国博士后科学基金(20106102110032)

摘　　要：为了克服传统H∞鲁棒控制在控制系统设计中未考虑系统的动态特性和稳态精度的缺陷,探讨了H∞鲁棒控制在永磁同步电机伺服系统中的应用,建立了永磁同步电机伺服系统在参数摄动且存在干扰情况下的不确定线性模型,设计了一种混合鲁棒方差控制器。采用状态反馈鲁棒方差控制器作为主控制器,将系统的闭环极点配置于特定圆盘区域,保证系统良好的动态性能;通过干扰状态观测器实时估计系统负载转矩并补偿电流来提高稳态精度。仿真和实验结果表明:该混合控制策略在参数摄动和负载扰动的情况下具有快速的动态性能,相对于仅采用状态反馈鲁棒方差控制器,稳态精度由4%提高到0.5%,鲁棒性强,结构与算法实现简单。To overcome drawback of design of traditional H∞ robust controller in control system ignoring the dynamic behavior and steady precision, H∞ robust control applied in permanent magnet synchronous motor （PMSM） servo system was discussed, the uncertainty linear model of PMSM servo system with pa- rameters variation and external interference was established and a mixed robust variance controller was designed. The state feedback robust variance controller was adopted as main controller and the system closed-loop poles were placed in a specified disk to guarantee good dynamic response; the disturbance observer （DOB） was used to estimate load torque in real time and compensate current correspondingly to improve the steady precision. The simulation and experiment results show that, in the ease of parameter variation and the load disturbance, the control scheme has excellent dynamic response and strong robust; the steady precision is imporved from 4% to 0. 5% compared to state feedback robust variance controller; both the structure and algorithm are simple.

关 键 词：永磁同步电机 伺服系统 鲁棒方差控制器 干扰观测器 线性矩阵不等式 

分 类 号：TM351[电气工程—电机]